version: 66.12
glider: 179
mission: 13
dive: 57
start: 10 8 114 16 11 46
data:
$ID,179
$MISSION,13
$DIVE,57
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2.5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51623
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00267967
$HD_B,0.0102786
$HD_C,3.7969199e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.6903
$TGT_DEFAULT_LON,-118.7761
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3923
$C_PITCH,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,22
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$ROLL_MIN,165
$ROLL_MAX,3681
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,72
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2926
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024600001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,140
$AH0_10V,95.099998
$MINV_24V,22
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-37.156891
$PRESSURE_SLOPE,0.0001164844
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043333764
$SEABIRD_T_H,0.0006255582
$SEABIRD_T_I,2.4443518e-05
$SEABIRD_T_J,2.7040428e-06
$SEABIRD_C_G,-10.032231
$SEABIRD_C_H,1.1531334
$SEABIRD_C_I,-0.0012400629
$SEABIRD_C_J,0.00018751388
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,081014,160524,1429.379,14401.561,39,0.8,59,0.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-71.2
$GPS2,081014,161129,1429.322,14401.578,4,0.8,24,0.6
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N2
$TGT_LATLONG,1432.300,14457.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,78.4,100939,-16.7,-9.167,-21.61,2230
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.80,-146.0,120,2285,1255,1155,0.0,0.0,0,145,0.00,0.00,-45.08,0.000,16386,0.000,0.000,120,2286,2229,2286,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,147,-0.80,-146.0,120,2286,2286,2174,3.2,-5.5,7,204,11.25,2.15,-37.12,0.000,18692,0.245,0.056,2569,3620,3523,3534,3512,0,0,0,0,0,0,24.81,25.28,25.49
$GC,444,-0.65,-146.0,2568,3620,3534,3514,93.8,-30.1,46,452,0.25,2.15,0.00,0.000,3078,0.149,0.025,2634,2233,3524,3534,3514,0,0,0,0,0,0,25.03,25.40,28.83
$GC,749,-0.61,-146.0,2633,2225,3535,3515,153.5,-16.4,76,757,0.00,2.25,0.00,0.000,260,0.000,0.046,2624,3619,3524,3534,3515,0,0,0,0,0,0,28.83,25.30,28.83
$GC,806,-0.61,-146.0,2624,3619,3534,3515,162.8,-16.0,81,814,0.00,2.12,0.00,0.000,1030,0.000,0.025,2625,2231,3524,3534,3515,0,0,0,0,0,0,28.83,25.42,28.83
$GC,1129,-0.61,-146.0,2625,2228,3534,3517,208.9,-13.9,109,1137,0.00,2.28,0.00,0.000,260,0.000,0.045,2614,3625,3525,3534,3517,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1205,-0.61,-146.0,2614,3625,3534,3517,217.5,-14.7,111,1213,0.12,2.10,0.00,0.000,3078,0.141,0.025,2646,2252,3525,3534,3517,0,0,0,0,0,0,25.22,25.44,28.83
$GC,1518,-0.65,-146.0,2646,2251,3534,3517,256.6,-11.5,122,1526,0.00,2.15,0.00,0.000,516,0.000,0.035,2646,865,3525,3534,3517,0,0,0,0,0,0,28.83,25.34,28.83
$GC,1569,-0.69,-146.0,2646,865,3534,3516,260.3,-11.4,123,1583,0.00,2.10,0.00,0.000,1030,0.000,0.028,2640,2220,3525,3534,3517,0,0,0,0,0,0,28.83,25.38,28.83
$GC,1880,-0.73,-146.0,2640,2220,3533,3517,296.3,-10.1,134,1888,0.00,2.30,0.00,0.000,260,0.000,0.048,2631,3649,3525,3533,3517,0,0,0,0,0,0,28.83,25.30,28.83
$GC,2053,-0.79,-146.0,2631,3649,3531,3517,311.0,-9.8,139,2066,0.12,2.12,0.00,0.000,5126,0.085,0.027,2573,2266,3524,3531,3517,0,0,0,0,0,0,25.35,25.40,28.83
$GC,2359,-0.79,-146.0,2573,2264,3526,3517,352.9,-13.1,150,2370,0.00,2.25,0.00,0.000,260,0.000,0.049,2563,3645,3521,3525,3518,0,0,0,0,0,0,28.83,25.29,28.83
$GC,2399,-0.79,-146.0,2562,3645,3525,3517,357.5,-13.6,151,2407,0.00,2.12,0.00,0.000,1030,0.000,0.028,2563,2272,3521,3525,3517,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2717,-0.76,-146.0,2562,2268,3521,3515,407.1,-15.4,162,2725,0.12,2.28,0.00,0.000,2308,0.161,0.047,2588,3646,3517,3521,3514,0,0,0,0,0,0,25.13,25.25,28.83
$GC,2794,-0.76,-146.0,2588,3646,3520,3514,415.9,-14.7,164,2802,0.00,2.12,0.00,0.000,1030,0.000,0.028,2588,2277,3516,3519,3514,0,0,0,0,0,0,28.83,25.37,28.83
$GC,3106,-0.76,-146.0,2588,2276,3518,3510,457.7,-12.5,175,3114,0.00,2.22,0.00,0.000,516,0.000,0.038,2588,859,3514,3518,3510,0,0,0,0,0,0,28.83,25.27,28.83
$GC,3142,-0.76,-146.0,2588,859,3519,3510,461.1,-12.7,176,3150,0.00,2.25,0.00,0.000,1030,0.000,0.033,2579,2281,3514,3518,3510,0,0,0,0,0,0,28.83,25.31,28.83
$GC,3460,-0.76,-146.0,2579,2282,3516,3506,501.1,-12.0,187,3468,0.00,2.25,0.00,0.000,260,0.000,0.052,2570,3658,3510,3515,3506,0,0,0,0,0,0,28.83,25.21,28.83
$GC,3551,-0.76,-146.0,2570,3658,3514,3506,511.7,-12.2,190,3560,0.12,2.12,0.00,0.000,3078,0.151,0.031,2600,2309,3510,3514,3506,0,0,0,0,0,0,25.09,25.34,28.83
$GC,3874,-0.76,-146.0,2600,2304,3512,3502,546.8,-10.6,201,3882,0.00,2.30,0.00,0.000,516,0.000,0.040,2600,863,3506,3511,3501,0,0,0,0,0,0,28.83,25.23,28.83
$GC,3960,-0.76,-146.0,2600,863,3509,3502,556.8,-11.3,204,3968,0.00,2.30,0.00,0.000,1030,0.000,0.034,2593,2308,3506,3511,3501,0,0,0,0,0,0,28.83,25.28,28.83
$GC,4292,-0.76,-146.0,2593,2308,3509,3497,595.5,-12.0,215,4300,0.00,2.20,0.00,0.000,260,0.000,0.054,2583,3648,3502,3508,3497,0,0,0,0,0,0,28.83,25.17,28.83
$GC,4339,-0.76,-146.0,2583,3648,3508,3498,599.5,-12.2,216,4346,0.00,2.10,0.00,0.000,1030,0.000,0.031,2583,2329,3502,3507,3497,0,0,0,0,0,0,28.83,25.30,28.83
$GC,4650,-0.76,-146.0,2583,2323,3506,3494,642.3,-13.2,227,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2323,3500,3506,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4950,-0.76,-146.0,2584,2323,3503,3491,678.9,-11.8,237,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2323,3497,3503,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5250,-0.76,-146.0,2584,2323,3501,3489,713.2,-11.4,247,5258,0.00,2.22,0.00,0.000,260,0.000,0.054,2574,3652,3495,3501,3489,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5287,-0.76,-146.0,2574,3653,3501,3489,716.3,-11.4,248,5297,0.00,2.12,0.00,0.000,1030,0.000,0.032,2574,2329,3494,3500,3489,0,0,0,0,0,0,28.83,25.29,28.83
$GC,5611,-0.76,-146.0,2574,2324,3499,3486,758.4,-12.8,259,5619,0.00,2.35,0.00,0.000,516,0.000,0.044,2574,869,3492,3499,3486,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5653,-0.76,-146.0,2574,869,3499,3486,762.3,-12.9,260,5664,0.12,2.33,0.00,0.000,3078,0.157,0.036,2596,2311,3492,3499,3486,0,0,0,0,0,0,25.01,25.22,28.83
$GC,5968,-0.79,-146.0,2596,2311,3497,3484,801.7,-11.8,271,5980,0.00,2.25,0.00,0.000,260,0.000,0.057,2587,3657,3490,3497,3484,0,0,0,0,0,0,28.83,25.12,28.83
$GC,5999,-0.83,-146.0,2588,3657,3496,3484,805.4,-11.9,272,6007,0.00,2.15,0.00,0.000,1030,0.000,0.034,2587,2329,3490,3496,3484,0,0,0,0,0,0,28.83,25.27,28.83
$GC,6331,-0.83,-146.0,2587,2323,3495,3480,844.9,-11.6,283,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2323,3487,3494,3481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6631,-0.83,-146.0,2588,2323,3493,3479,877.8,-10.6,293,6638,0.00,2.22,0.00,0.000,260,0.000,0.057,2579,3648,3486,3493,3479,0,0,0,0,0,0,28.83,25.12,28.83
$GC,6672,-0.83,-146.0,2579,3648,3493,3479,880.7,-10.6,294,6680,0.00,2.12,0.00,0.000,1030,0.000,0.033,2579,2328,3486,3493,3479,0,0,0,0,0,0,28.83,25.26,28.83
$GC,6984,-0.83,-146.0,2579,2322,3492,3478,914.6,-10.1,305,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2322,3485,3492,3478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7284,-0.83,-146.0,2579,2322,3491,3476,943.7,-9.6,315,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2322,3484,3492,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7584,-0.83,-146.0,2579,2322,3490,3474,973.3,-10.1,325,7592,0.00,2.25,0.00,0.000,260,0.000,0.057,2570,3648,3482,3489,3475,0,0,0,0,0,0,28.83,25.10,28.83
$GC,7630,-0.83,-146.0,2570,3648,3489,3475,976.2,-10.2,326,7640,0.00,2.10,0.00,0.000,1030,0.000,0.034,2570,2346,3481,3488,3474,0,0,0,0,0,0,28.83,25.22,28.83
$STATE,7762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7763,begin apogee
$GC,7766,-0.13,0.0,2570,1999,3488,3474,992.6,-10.9,331,7901,0.75,0.00,127.65,1.142,10244,0.116,0.000,2796,1998,2926,2971,2882,0,0,0,0,0,0,24.92,28.83,22.65
$STATE,7901,end apogee,CONTROL_FINISHED_OK
$STATE,7901,begin climb
$GC,7903,0.80,146.0,2796,1998,2971,2880,996.9,0.0,335,8055,0.90,2.40,138.45,1.122,10756,0.059,0.049,3106,612,2330,2385,2275,0,0,0,0,0,0,23.99,23.97,22.49
$GC,8084,0.92,250.0,3106,612,2384,2269,992.9,4.4,341,8190,0.12,2.30,95.78,1.105,11270,0.086,0.032,3153,1999,1906,1966,1847,0,0,0,0,0,0,24.21,24.23,22.45
$GC,8484,0.81,250.0,3154,1999,1964,1833,926.2,17.2,355,8492,0.15,2.33,0.00,0.000,4356,0.168,0.047,3114,3400,1898,1964,1833,0,0,0,0,0,0,24.89,25.06,28.83
$GC,8556,0.71,250.0,3114,3400,1964,1833,917.0,16.6,357,8564,0.17,2.22,0.00,0.000,5126,0.157,0.033,3078,2009,1898,1963,1833,0,0,0,0,0,0,24.96,25.22,28.83
$GC,8868,0.67,250.0,3078,2008,1963,1830,875.4,12.4,368,8876,0.00,2.30,0.00,0.000,516,0.000,0.050,3086,602,1896,1963,1830,0,0,0,0,0,0,28.83,25.22,28.83
$GC,8895,0.64,250.0,3087,602,1963,1830,871.9,12.6,369,8903,0.15,2.22,0.00,0.000,5126,0.151,0.033,3048,2002,1896,1962,1830,0,0,0,0,0,0,25.06,25.29,28.83
$GC,9222,0.64,250.0,3049,2002,1962,1829,836.5,10.5,380,9230,0.00,2.30,0.00,0.000,260,0.000,0.049,3049,3401,1895,1962,1828,0,0,0,0,0,0,28.83,25.18,28.83
$GC,9339,0.64,250.0,3048,3401,1963,1829,823.4,11.2,384,9347,0.00,2.22,0.00,0.000,1030,0.000,0.034,3057,2011,1895,1962,1829,0,0,0,0,0,0,28.83,25.25,28.83
$GC,9671,0.64,250.0,3057,2010,1963,1828,788.2,10.4,395,9679,0.00,2.30,0.00,0.000,516,0.000,0.051,3068,601,1895,1962,1828,0,0,0,0,0,0,28.83,25.13,28.83
$GC,9713,0.64,250.0,3068,602,1963,1827,784.9,10.5,396,9721,0.00,2.25,0.00,0.000,1030,0.000,0.033,3067,2017,1895,1963,1827,0,0,0,0,0,0,28.83,25.22,28.83
$GC,10035,0.64,250.0,3067,2017,1963,1826,749.1,10.9,407,10042,0.00,2.28,0.00,0.000,260,0.000,0.049,3067,3399,1894,1962,1826,0,0,0,0,0,0,28.83,25.13,28.83
$GC,10106,0.64,250.0,3067,3398,1963,1826,742.4,11.2,409,10115,0.00,2.22,0.00,0.000,1030,0.000,0.034,3076,2011,1894,1962,1826,0,0,0,0,0,0,28.83,25.21,28.83
$GC,10424,0.64,250.0,3076,2011,1963,1826,703.5,11.7,420,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2011,1894,1962,1826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10724,0.64,250.0,3076,2011,1962,1826,669.0,11.5,430,10732,0.00,2.33,0.00,0.000,516,0.000,0.051,3087,595,1894,1962,1826,0,0,0,0,0,0,28.83,25.08,28.83
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$STATE,16894,end climb,SURFACE_DEPTH_REACHED
$STATE,16894,begin surface coast
$FINISH,0.7,1.018918
$STATE,16905,end surface coast,CONTROL_FINISHED_OK
$STATE,16905,begin surface
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$IRIDIUM_FIX,1420.86,14400.81,081014,111036
$TT8_MAMPS,0.053928,0.053928
$HUMID,49.60
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$TCM_TEMP,25.80
$XPDR_PINGS,4
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649255
$PA_UPTIME,16932.74 8157.45
$PA_BOOTCOUNT,643
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$10V_AH,9.72,28.126
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$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.352,0.000,0.000,0.000
$MEM,230272
$DATA_FILE_SIZE,33417,781
$CAP_FILE_SIZE,158546,0
$CFSIZE,260034560,253267968
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